public void testWalkingBackwardsSlow() throws SimulationExceededMaximumTimeException, ControllerFailureException, IOException { QuadrupedTestBehaviors.standUp(conductor, variables); variables.getYoPlanarVelocityInputX().set(-0.06); conductor.addSustainGoal(QuadrupedTestGoals.notFallen(variables)); conductor.addSustainGoal( YoVariableTestGoal.doubleLessThan( variables.getYoTime(), variables.getYoTime().getDoubleValue() + 25.0)); conductor.addTerminalGoal(YoVariableTestGoal.doubleLessThan(variables.getRobotBodyX(), -0.48)); conductor.simulate(); conductor.concludeTesting(); }
public void testWalkingInABackwardRightCircle() throws SimulationExceededMaximumTimeException, ControllerFailureException, IOException { QuadrupedTestBehaviors.standUp(conductor, variables); variables.getYoPlanarVelocityInputX().set(-0.1); variables.getYoPlanarVelocityInputZ().set(-0.06); conductor.addSustainGoal(QuadrupedTestGoals.notFallen(variables)); conductor.addTerminalGoal( YoVariableTestGoal.doubleGreaterThan( variables.getYoTime(), variables.getYoTime().getDoubleValue() + 30.0)); conductor.simulate(); conductor.concludeTesting(); }